Method for multi-unmanned aerial vehicle formation to pass through frame-shaped obstacle

A method for a multi-unmanned aerial vehicle (UAV) formation to pass through a frame-shaped obstacle, comprising:

• obtaining in real time a distance between the frame-shaped obstacle and the UAV formation and a displacement of the UAV formation during a flight process;
• constructing a relative position model between the frame-shaped obstacle and the UAV formation;
• constructing a UAV velocity control model;
• constructing a parameter model based on the distance, the displacement, and the relative position model;
• constructing a position estimation model of the frame-shaped obstacle and a relative position estimation model among UAVs in the UAV formation based on the parameter model;
• and
• designing, based on the position estimation model, the relative position estimation model, and the UAV velocity control model, a controller for the UAV formation to pass through the obstacle, and controlling a flight velocity of the UAV formation through the controller to enable the UAV formation to pass through the frame-shaped obstacle;
• wherein the constructing the UAV velocity control model comprises:
• modeling each of the UAVs as a discrete-time integrator with bounded velocities by using the following formula:
• {
• p
• 0
• (
• k
• +
• 1
• )
• =
• p
• 0
• (
• k
• )
• +
• v
• ¯
• 0
• (
• k
• )
• ⁢
• T
• ,
• 
• v
• ¯
• 0
• (
• k
• )
• 
• ≤
• V
• 0
• p
• j
• (
• k
• +
• 1
• )
• =
• p
• j
• (
• k
• )
• +
• v
• ¯
• j
• (
• k
• )
• ⁢
• T
• ,
• 
• v
• ¯
• j
• (
• k
• )
• 
• ≤
• V
• j
• (
• 1.2
• )
• wherein T is a sampling period, P0(k) and Pj(k) respectively represent positions of a primary UAV and a UAV j in a global coordinate system at a moment k, v0(k) and vj(k) are velocity bounds to the primary UAV and the UAV j respectively, V0 and Vj are maximum velocities of the primary UAV and the UAV j respectively, and Vj>V0.